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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-static-methods">静态 Protected 成员函数</a> &#124;
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<div class="title">pcl::ColorGradientModality&lt; PointInT &gt; 模板类 参考</div>  </div>
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<p>Modality based on max-RGB gradients.  
 <a href="classpcl_1_1_color_gradient_modality.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="color__gradient__modality_8h_source.html">color_gradient_modality.h</a>&gt;</code></p>
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类 pcl::ColorGradientModality&lt; PointInT &gt; 继承关系图:</div>
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<area href="classpcl_1_1_quantizable_modality.html" title="Interface for a quantizable modality." alt="pcl::QuantizableModality" shape="rect" coords="0,0,231,24"/>
<area href="classpcl_1_1_p_c_l_base.html" alt="pcl::PCLBase&lt; PointInT &gt;" shape="rect" coords="241,0,472,24"/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html">Candidate</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structpcl_1_1_color_gradient_modality_1_1_candidate.html" title="Candidate for a feature (used in feature extraction methods).">Candidate</a> for a feature (used in feature extraction methods).  <a href="structpcl_1_1_color_gradient_modality_1_1_candidate.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Public 类型</h2></td></tr>
<tr class="memitem:a1e19e3726e9278aa81baef0f1ddc5f71"><td class="memItemLeft" align="right" valign="top"><a id="a1e19e3726e9278aa81baef0f1ddc5f71"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">FeatureSelectionMethod</a> { <b>MASK_BORDER_HIGH_GRADIENTS</b>
, <b>MASK_BORDER_EQUALLY</b>
, <b>DISTANCE_MAGNITUDE_SCORE</b>
 }</td></tr>
<tr class="memdesc:a1e19e3726e9278aa81baef0f1ddc5f71"><td class="mdescLeft">&#160;</td><td class="mdescRight">Different methods for feature selection/extraction. <br /></td></tr>
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<tr class="memitem:aded7847db4aed1cbb086fa18d9273910"><td class="memItemLeft" align="right" valign="top"><a id="aded7847db4aed1cbb086fa18d9273910"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:aded7847db4aed1cbb086fa18d9273910"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ac8326513fad0680b6993e2f1a79a6af4"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:ab3ae6e4b6753cbbc161b4718f62db3e6"><td class="memItemLeft" align="right" valign="top"><a id="ab3ae6e4b6753cbbc161b4718f62db3e6"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#ab3ae6e4b6753cbbc161b4718f62db3e6">ColorGradientModality</a> ()</td></tr>
<tr class="memdesc:ab3ae6e4b6753cbbc161b4718f62db3e6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:ab3ae6e4b6753cbbc161b4718f62db3e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a92e6f7f11e4156b904c28c63f62105aa"><td class="memItemLeft" align="right" valign="top"><a id="a92e6f7f11e4156b904c28c63f62105aa"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a92e6f7f11e4156b904c28c63f62105aa">~ColorGradientModality</a> ()</td></tr>
<tr class="memdesc:a92e6f7f11e4156b904c28c63f62105aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a92e6f7f11e4156b904c28c63f62105aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc82fc7d4197f93b02cd4d88576808cb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#afc82fc7d4197f93b02cd4d88576808cb">setGradientMagnitudeThreshold</a> (const float threshold)</td></tr>
<tr class="memdesc:afc82fc7d4197f93b02cd4d88576808cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the threshold for the gradient magnitude which is used when quantizing the data. Gradients with a smaller magnitude are ignored.  <a href="classpcl_1_1_color_gradient_modality.html#afc82fc7d4197f93b02cd4d88576808cb">更多...</a><br /></td></tr>
<tr class="separator:afc82fc7d4197f93b02cd4d88576808cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1fbe75808a0a100d2246341dd8aa7efc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a1fbe75808a0a100d2246341dd8aa7efc">setGradientMagnitudeThresholdForFeatureExtraction</a> (const float threshold)</td></tr>
<tr class="memdesc:a1fbe75808a0a100d2246341dd8aa7efc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the threshold for the gradient magnitude which is used for feature extraction. Gradients with a smaller magnitude are ignored.  <a href="classpcl_1_1_color_gradient_modality.html#a1fbe75808a0a100d2246341dd8aa7efc">更多...</a><br /></td></tr>
<tr class="separator:a1fbe75808a0a100d2246341dd8aa7efc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5be63ae9d79f7b659be40ef3ca3c564d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a5be63ae9d79f7b659be40ef3ca3c564d">setFeatureSelectionMethod</a> (const <a class="el" href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">FeatureSelectionMethod</a> method)</td></tr>
<tr class="memdesc:a5be63ae9d79f7b659be40ef3ca3c564d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the feature selection method.  <a href="classpcl_1_1_color_gradient_modality.html#a5be63ae9d79f7b659be40ef3ca3c564d">更多...</a><br /></td></tr>
<tr class="separator:a5be63ae9d79f7b659be40ef3ca3c564d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abce78cf90b93d706b8f558ccd8ca43c2"><td class="memItemLeft" align="right" valign="top"><a id="abce78cf90b93d706b8f558ccd8ca43c2"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#abce78cf90b93d706b8f558ccd8ca43c2">setSpreadingSize</a> (const size_t spreading_size)</td></tr>
<tr class="memdesc:abce78cf90b93d706b8f558ccd8ca43c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the spreading size for spreading the quantized data. <br /></td></tr>
<tr class="separator:abce78cf90b93d706b8f558ccd8ca43c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3378a2de1166930c2768ae433f7c82fa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a3378a2de1166930c2768ae433f7c82fa">setVariableFeatureNr</a> (const bool enabled)</td></tr>
<tr class="memdesc:a3378a2de1166930c2768ae433f7c82fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets whether variable feature numbers for feature extraction is enabled.  <a href="classpcl_1_1_color_gradient_modality.html#a3378a2de1166930c2768ae433f7c82fa">更多...</a><br /></td></tr>
<tr class="separator:a3378a2de1166930c2768ae433f7c82fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf7fdf618931946d67864ee04c9fe259"><td class="memItemLeft" align="right" valign="top"><a id="acf7fdf618931946d67864ee04c9fe259"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#acf7fdf618931946d67864ee04c9fe259">getQuantizedMap</a> ()</td></tr>
<tr class="memdesc:acf7fdf618931946d67864ee04c9fe259"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a reference to the internally computed quantized map. <br /></td></tr>
<tr class="separator:acf7fdf618931946d67864ee04c9fe259"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8dcf287d2f0fe3f032b59502ea881816"><td class="memItemLeft" align="right" valign="top"><a id="a8dcf287d2f0fe3f032b59502ea881816"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a8dcf287d2f0fe3f032b59502ea881816">getSpreadedQuantizedMap</a> ()</td></tr>
<tr class="memdesc:a8dcf287d2f0fe3f032b59502ea881816"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a reference to the internally computed spreaded quantized map. <br /></td></tr>
<tr class="separator:a8dcf287d2f0fe3f032b59502ea881816"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08a59b078f61a95e1b70e4465e462f16"><td class="memItemLeft" align="right" valign="top"><a id="a08a59b078f61a95e1b70e4465e462f16"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_gradient_x_y.html">pcl::GradientXY</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a08a59b078f61a95e1b70e4465e462f16">getMaxColorGradients</a> ()</td></tr>
<tr class="memdesc:a08a59b078f61a95e1b70e4465e462f16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a point cloud containing the max-RGB gradients. <br /></td></tr>
<tr class="separator:a08a59b078f61a95e1b70e4465e462f16"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8620b1c71fd7578c74ff9cae170cad15"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a8620b1c71fd7578c74ff9cae170cad15">extractFeatures</a> (const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;mask, size_t nr_features, size_t modalityIndex, std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;features) const</td></tr>
<tr class="memdesc:a8620b1c71fd7578c74ff9cae170cad15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts features from this modality within the specified mask.  <a href="classpcl_1_1_color_gradient_modality.html#a8620b1c71fd7578c74ff9cae170cad15">更多...</a><br /></td></tr>
<tr class="separator:a8620b1c71fd7578c74ff9cae170cad15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2dc6fed79dee651b61ac5481050d9e9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#af2dc6fed79dee651b61ac5481050d9e9">extractAllFeatures</a> (const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;mask, size_t nr_features, size_t modalityIndex, std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;features) const</td></tr>
<tr class="memdesc:af2dc6fed79dee651b61ac5481050d9e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extracts all possible features from the modality within the specified mask.  <a href="classpcl_1_1_color_gradient_modality.html#af2dc6fed79dee651b61ac5481050d9e9">更多...</a><br /></td></tr>
<tr class="separator:af2dc6fed79dee651b61ac5481050d9e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d07cf0a0d8f951d2466e3adf86fd68b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a1d07cf0a0d8f951d2466e3adf86fd68b">setInputCloud</a> (const typename PointCloudIn::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1d07cf0a0d8f951d2466e3adf86fd68b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset (overwrites the <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">PCLBase::setInputCloud</a> method)  <a href="classpcl_1_1_color_gradient_modality.html#a1d07cf0a0d8f951d2466e3adf86fd68b">更多...</a><br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a742f19ce8a6ae5401a4eb5351a9f54aa">processInputData</a> ()</td></tr>
<tr class="memdesc:a742f19ce8a6ae5401a4eb5351a9f54aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading). <br /></td></tr>
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<tr class="memitem:a6fa2e81e46431999e048d1da6716515f"><td class="memItemLeft" align="right" valign="top"><a id="a6fa2e81e46431999e048d1da6716515f"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a6fa2e81e46431999e048d1da6716515f">processInputDataFromFiltered</a> ()</td></tr>
<tr class="memdesc:a6fa2e81e46431999e048d1da6716515f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Processes the input data assuming that everything up to filtering is already done/available (so only spreading is performed). <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_quantizable_modality"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_quantizable_modality')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_quantizable_modality.html">pcl::QuantizableModality</a></td></tr>
<tr class="memitem:ac5ad62e71b105d82681d68a3ecbaf8e6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memItemLeft" align="right" valign="top"><a id="ac5ad62e71b105d82681d68a3ecbaf8e6"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_quantizable_modality.html#ac5ad62e71b105d82681d68a3ecbaf8e6">QuantizableModality</a> ()</td></tr>
<tr class="memdesc:ac5ad62e71b105d82681d68a3ecbaf8e6 inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:ae6a753df93cbb291891d868aceadb67a inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memItemLeft" align="right" valign="top"><a id="ae6a753df93cbb291891d868aceadb67a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_quantizable_modality.html#ae6a753df93cbb291891d868aceadb67a">~QuantizableModality</a> ()</td></tr>
<tr class="memdesc:ae6a753df93cbb291891d868aceadb67a inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ae6a753df93cbb291891d868aceadb67a inherit pub_methods_classpcl_1_1_quantizable_modality"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a80d5a47569d0ee40c39c0e7dd0becbcb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a80d5a47569d0ee40c39c0e7dd0becbcb">computeGaussianKernel</a> (const size_t kernel_size, const float sigma, std::vector&lt; float &gt; &amp;kernel_values)</td></tr>
<tr class="memdesc:a80d5a47569d0ee40c39c0e7dd0becbcb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the Gaussian kernel used for smoothing.  <a href="classpcl_1_1_color_gradient_modality.html#a80d5a47569d0ee40c39c0e7dd0becbcb">更多...</a><br /></td></tr>
<tr class="separator:a80d5a47569d0ee40c39c0e7dd0becbcb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fb9324525a015909522d5f9303381ac"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a4fb9324525a015909522d5f9303381ac">computeMaxColorGradients</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a4fb9324525a015909522d5f9303381ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the max-RGB gradients for the specified cloud.  <a href="classpcl_1_1_color_gradient_modality.html#a4fb9324525a015909522d5f9303381ac">更多...</a><br /></td></tr>
<tr class="separator:a4fb9324525a015909522d5f9303381ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ae9ed70d01fc772dbab539fe53231a2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a2ae9ed70d01fc772dbab539fe53231a2">computeMaxColorGradientsSobel</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a2ae9ed70d01fc772dbab539fe53231a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the max-RGB gradients for the specified cloud using sobel.  <a href="classpcl_1_1_color_gradient_modality.html#a2ae9ed70d01fc772dbab539fe53231a2">更多...</a><br /></td></tr>
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<tr class="memitem:aa708e54642e7f6e6081ac1f55b5e626a"><td class="memItemLeft" align="right" valign="top"><a id="aa708e54642e7f6e6081ac1f55b5e626a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#aa708e54642e7f6e6081ac1f55b5e626a">quantizeColorGradients</a> ()</td></tr>
<tr class="memdesc:aa708e54642e7f6e6081ac1f55b5e626a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Quantizes the color gradients. <br /></td></tr>
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<tr class="memitem:a07328b89a5240cb76a7a737039072186"><td class="memItemLeft" align="right" valign="top"><a id="a07328b89a5240cb76a7a737039072186"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a07328b89a5240cb76a7a737039072186">filterQuantizedColorGradients</a> ()</td></tr>
<tr class="memdesc:a07328b89a5240cb76a7a737039072186"><td class="mdescLeft">&#160;</td><td class="mdescRight">Filters the quantized gradients. <br /></td></tr>
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<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
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<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-methods"></a>
静态 Protected 成员函数</h2></td></tr>
<tr class="memitem:a1872fffa143dd63e5d79bfbedea1ae05"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">erode</a> (const <a class="el" href="classpcl_1_1_mask_map.html">pcl::MaskMap</a> &amp;mask_in, <a class="el" href="classpcl_1_1_mask_map.html">pcl::MaskMap</a> &amp;mask_out)</td></tr>
<tr class="memdesc:a1872fffa143dd63e5d79bfbedea1ae05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erodes a mask.  <a href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">更多...</a><br /></td></tr>
<tr class="separator:a1872fffa143dd63e5d79bfbedea1ae05"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:ad5084fb7048c6888856b918a8ab2e7a9"><td class="memItemLeft" align="right" valign="top"><a id="ad5084fb7048c6888856b918a8ab2e7a9"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#ad5084fb7048c6888856b918a8ab2e7a9">variable_feature_nr_</a></td></tr>
<tr class="memdesc:ad5084fb7048c6888856b918a8ab2e7a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determines whether variable numbers of features are extracted or not. <br /></td></tr>
<tr class="separator:ad5084fb7048c6888856b918a8ab2e7a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a52eee3d1e120fad88f4a7b1614ffd6ee"><td class="memItemLeft" align="right" valign="top"><a id="a52eee3d1e120fad88f4a7b1614ffd6ee"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a52eee3d1e120fad88f4a7b1614ffd6ee">smoothed_input_</a></td></tr>
<tr class="memdesc:a52eee3d1e120fad88f4a7b1614ffd6ee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores a smoothed verion of the input cloud. <br /></td></tr>
<tr class="separator:a52eee3d1e120fad88f4a7b1614ffd6ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a46ae330fdc561b3eb3f46800d5136078"><td class="memItemLeft" align="right" valign="top"><a id="a46ae330fdc561b3eb3f46800d5136078"></a>
<a class="el" href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">FeatureSelectionMethod</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">feature_selection_method_</a></td></tr>
<tr class="memdesc:a46ae330fdc561b3eb3f46800d5136078"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines which feature selection method is used. <br /></td></tr>
<tr class="separator:a46ae330fdc561b3eb3f46800d5136078"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff83039db2c49d7ba2e4a28519aec433"><td class="memItemLeft" align="right" valign="top"><a id="aff83039db2c49d7ba2e4a28519aec433"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#aff83039db2c49d7ba2e4a28519aec433">gradient_magnitude_threshold_</a></td></tr>
<tr class="memdesc:aff83039db2c49d7ba2e4a28519aec433"><td class="mdescLeft">&#160;</td><td class="mdescRight">The threshold applied on the gradient magnitudes (for quantization). <br /></td></tr>
<tr class="separator:aff83039db2c49d7ba2e4a28519aec433"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a184fe9770c29550bc24a4f92dee81f0f"><td class="memItemLeft" align="right" valign="top"><a id="a184fe9770c29550bc24a4f92dee81f0f"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">gradient_magnitude_threshold_feature_extraction_</a></td></tr>
<tr class="memdesc:a184fe9770c29550bc24a4f92dee81f0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">The threshold applied on the gradient magnitudes for feature extraction. <br /></td></tr>
<tr class="separator:a184fe9770c29550bc24a4f92dee81f0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b51b95df84a62c12bc348dc3485054f"><td class="memItemLeft" align="right" valign="top"><a id="a3b51b95df84a62c12bc348dc3485054f"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_gradient_x_y.html">pcl::GradientXY</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a></td></tr>
<tr class="memdesc:a3b51b95df84a62c12bc348dc3485054f"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud which holds the max-RGB gradients. <br /></td></tr>
<tr class="separator:a3b51b95df84a62c12bc348dc3485054f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fa30ab2cabed142a2e625dd9fc22f97"><td class="memItemLeft" align="right" valign="top"><a id="a3fa30ab2cabed142a2e625dd9fc22f97"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a3fa30ab2cabed142a2e625dd9fc22f97">spreading_size_</a></td></tr>
<tr class="memdesc:a3fa30ab2cabed142a2e625dd9fc22f97"><td class="mdescLeft">&#160;</td><td class="mdescRight">The spreading size. <br /></td></tr>
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<tr class="memitem:a04ea169328948649471bb07fac02e2dc"><td class="memItemLeft" align="right" valign="top"><a id="a04ea169328948649471bb07fac02e2dc"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a04ea169328948649471bb07fac02e2dc">quantized_color_gradients_</a></td></tr>
<tr class="memdesc:a04ea169328948649471bb07fac02e2dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">The map which holds the quantized max-RGB gradients. <br /></td></tr>
<tr class="separator:a04ea169328948649471bb07fac02e2dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a500ad5d64ebd401afc02f9f6d12d5143"><td class="memItemLeft" align="right" valign="top"><a id="a500ad5d64ebd401afc02f9f6d12d5143"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a></td></tr>
<tr class="memdesc:a500ad5d64ebd401afc02f9f6d12d5143"><td class="mdescLeft">&#160;</td><td class="mdescRight">The map which holds the filtered quantized data. <br /></td></tr>
<tr class="separator:a500ad5d64ebd401afc02f9f6d12d5143"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9fb0dbf985fe4d09839f3bf7cd777fdb"><td class="memItemLeft" align="right" valign="top"><a id="a9fb0dbf985fe4d09839f3bf7cd777fdb"></a>
<a class="el" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_color_gradient_modality.html#a9fb0dbf985fe4d09839f3bf7cd777fdb">spreaded_filtered_quantized_color_gradients_</a></td></tr>
<tr class="memdesc:a9fb0dbf985fe4d09839f3bf7cd777fdb"><td class="mdescLeft">&#160;</td><td class="mdescRight">The map which holds the spreaded quantized data. <br /></td></tr>
<tr class="separator:a9fb0dbf985fe4d09839f3bf7cd777fdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT&gt;<br />
class pcl::ColorGradientModality&lt; PointInT &gt;</h3>

<p>Modality based on max-RGB gradients. </p>
<dl class="section author"><dt>作者</dt><dd>Stefan Holzer </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a80d5a47569d0ee40c39c0e7dd0becbcb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a80d5a47569d0ee40c39c0e7dd0becbcb">&#9670;&nbsp;</a></span>computeGaussianKernel()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::computeGaussianKernel </td>
          <td>(</td>
          <td class="paramtype">const size_t&#160;</td>
          <td class="paramname"><em>kernel_size</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>sigma</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; float &gt; &amp;&#160;</td>
          <td class="paramname"><em>kernel_values</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Computes the Gaussian kernel used for smoothing. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">kernel_size</td><td>the size of the Gaussian kernel. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">sigma</td><td>the sigma. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">kernel_values</td><td>the destination for the values of the kernel. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;{</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="comment">// code taken from OpenCV</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> n = int (kernel_size);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> SMALL_GAUSSIAN_SIZE = 7;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> small_gaussian_tab[][SMALL_GAUSSIAN_SIZE] =</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      {1.f},</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      {0.25f, 0.5f, 0.25f},</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      {0.0625f, 0.25f, 0.375f, 0.25f, 0.0625f},</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      {0.03125f, 0.109375f, 0.21875f, 0.28125f, 0.21875f, 0.109375f, 0.03125f}</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  };</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span>* fixed_kernel = n % 2 == 1 &amp;&amp; n &lt;= SMALL_GAUSSIAN_SIZE &amp;&amp; sigma &lt;= 0 ?</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      small_gaussian_tab[n&gt;&gt;1] : 0;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="comment">//CV_Assert( ktype == CV_32F || ktype == CV_64F );</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="comment">/*Mat kernel(n, 1, ktype);*/</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  kernel_values.resize (n);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keywordtype">float</span>* cf = &amp;(kernel_values[0]);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="comment">//double* cd = (double*)kernel.data;</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keywordtype">double</span> sigmaX = sigma &gt; 0 ? sigma : ((n-1)*0.5 - 1)*0.3 + 0.8;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keywordtype">double</span> scale2X = -0.5/(sigmaX*sigmaX);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keywordtype">double</span> sum = 0;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keywordtype">int</span> i;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="keywordflow">for</span>( i = 0; i &lt; n; i++ )</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keywordtype">double</span> x = i - (n-1)*0.5;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keywordtype">double</span> t = fixed_kernel ? double (fixed_kernel[i]) : std::exp (scale2X*x*x);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    cf[i] = float (t);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    sum += cf[i];</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  sum = 1./sum;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="keywordflow">for</span> (i = 0; i &lt; n; i++ )</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    cf[i] = float (cf[i]*sum);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="a4fb9324525a015909522d5f9303381ac"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4fb9324525a015909522d5f9303381ac">&#9670;&nbsp;</a></span>computeMaxColorGradients()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
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          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::computeMaxColorGradients </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Computes the max-RGB gradients for the specified cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the cloud for which the gradients are computed. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;{</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = cloud-&gt;width;</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = cloud-&gt;height;</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160; </div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a>.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (width*height);</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a>.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = width;</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a>.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = height;</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> pi = tan (1.0f) * 2;</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 0; row_index &lt; height-2; ++row_index)</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;  {</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 0; col_index &lt; width-2; ++col_index)</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    {</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index0 = row_index*width+col_index;</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index_c = row_index*width+col_index+2;</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index_r = (row_index+2)*width+col_index;</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160; </div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;      <span class="comment">//const int index_d = (row_index+1)*width+col_index+1;</span></div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160; </div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r0 = cloud-&gt;points[index0].r;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g0 = cloud-&gt;points[index0].g;</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b0 = cloud-&gt;points[index0].b;</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160; </div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r_c = cloud-&gt;points[index_c].r;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g_c = cloud-&gt;points[index_c].g;</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b_c = cloud-&gt;points[index_c].b;</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160; </div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r_r = cloud-&gt;points[index_r].r;</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g_r = cloud-&gt;points[index_r].g;</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b_r = cloud-&gt;points[index_r].b;</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160; </div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> r_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r0);</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> g_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g0);</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> b_dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_c) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b0);</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160; </div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> r_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r0);</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> g_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g0);</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> b_dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_r) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b0);</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160; </div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_r = r_dx*r_dx + r_dy*r_dy;</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_g = g_dx*g_dx + g_dy*g_dy;</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_mag_b = b_dx*b_dx + b_dy*b_dy;</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160; </div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;      <span class="keywordflow">if</span> (sqr_mag_r &gt; sqr_mag_g &amp;&amp; sqr_mag_r &gt; sqr_mag_b)</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      {</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        GradientXY gradient;</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;        gradient.magnitude = sqrt (sqr_mag_r);</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        gradient.angle = atan2 (r_dy, r_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160; </div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index+1, row_index+1) = gradient;</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;      }</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sqr_mag_g &gt; sqr_mag_b)</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;      {</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;        GradientXY gradient;</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        gradient.magnitude = sqrt (sqr_mag_g);</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        gradient.angle = atan2 (g_dy, g_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160; </div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index+1, row_index+1) = gradient;</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;      }</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;      {</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;        GradientXY gradient;</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;        gradient.magnitude = sqrt (sqr_mag_b);</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;        gradient.angle = atan2 (b_dy, b_dx) * 180.0f / pi;</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160; </div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index+1, row_index+1) = gradient;</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;      }</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160; </div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;      assert (<a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index+1, row_index+1).angle &gt;= -180 &amp;&amp;</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;              <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index+1, row_index+1).angle &lt;=  180);</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    }</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;  }</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160; </div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a3b51b95df84a62c12bc348dc3485054f"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">pcl::ColorGradientModality::color_gradients_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::GradientXY &gt; color_gradients_</div><div class="ttdoc">The point cloud which holds the max-RGB gradients.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2ae9ed70d01fc772dbab539fe53231a2">&#9670;&nbsp;</a></span>computeMaxColorGradientsSobel()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::computeMaxColorGradientsSobel </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Computes the max-RGB gradients for the specified cloud using sobel. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>the cloud for which the gradients are computed. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;{</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = cloud-&gt;width;</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = cloud-&gt;height;</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160; </div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;  <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a>.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (width*height);</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;  <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a>.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = width;</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a>.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = height;</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160; </div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> pi = tanf (1.0f) * 2.0f;</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 1; row_index &lt; height-1; ++row_index)</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;  {</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 1; col_index &lt; width-1; ++col_index)</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;    {</div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r7 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index-1)].r);</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g7 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index-1)].g);</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b7 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index-1)].b);</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r8 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index)].r);</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g8 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index)].g);</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b8 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index)].b);</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r9 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index+1)].r);</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g9 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index+1)].g);</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b9 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index-1)*width + (col_index+1)].b);</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r4 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index)*width + (col_index-1)].r);</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g4 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index)*width + (col_index-1)].g);</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b4 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index)*width + (col_index-1)].b);</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r6 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index)*width + (col_index+1)].r);</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g6 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index)*width + (col_index+1)].g);</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b6 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index)*width + (col_index+1)].b);</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index-1)].r);</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index-1)].g);</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index-1)].b);</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index)].r);</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index)].g);</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index)].b);</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index+1)].r);</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index+1)].g);</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b3 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud-&gt;points[(row_index+1)*width + (col_index+1)].b);</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160; </div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;      <span class="comment">//const int r_tmp1 = - r7 + r3;</span></div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;      <span class="comment">//const int r_tmp2 = - r1 + r9;</span></div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;      <span class="comment">//const int g_tmp1 = - g7 + g3;</span></div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;      <span class="comment">//const int g_tmp2 = - g1 + g9;</span></div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;      <span class="comment">//const int b_tmp1 = - b7 + b3;</span></div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;      <span class="comment">//const int b_tmp2 = - b1 + b9;</span></div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;<span class="comment"></span>      <span class="comment">//const int r_dx = r_tmp1 + r_tmp2 - (r4&lt;&lt;2) + (r6&lt;&lt;2);</span></div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;      <span class="comment">//const int r_dy = r_tmp1 - r_tmp2 - (r8&lt;&lt;2) + (r2&lt;&lt;2);</span></div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;      <span class="comment">//const int g_dx = g_tmp1 + g_tmp2 - (g4&lt;&lt;2) + (g6&lt;&lt;2);</span></div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;      <span class="comment">//const int g_dy = g_tmp1 - g_tmp2 - (g8&lt;&lt;2) + (g2&lt;&lt;2);</span></div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;      <span class="comment">//const int b_dx = b_tmp1 + b_tmp2 - (b4&lt;&lt;2) + (b6&lt;&lt;2);</span></div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;      <span class="comment">//const int b_dy = b_tmp1 - b_tmp2 - (b8&lt;&lt;2) + (b2&lt;&lt;2);</span></div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160; </div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;      <span class="comment">//const int r_tmp1 = - r7 + r3;</span></div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;      <span class="comment">//const int r_tmp2 = - r1 + r9;</span></div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;      <span class="comment">//const int g_tmp1 = - g7 + g3;</span></div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;      <span class="comment">//const int g_tmp2 = - g1 + g9;</span></div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;      <span class="comment">//const int b_tmp1 = - b7 + b3;</span></div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;      <span class="comment">//const int b_tmp2 = - b1 + b9;</span></div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;      <span class="comment">//const int gx = - r7 - (r4&lt;&lt;2) - r1 + r3 + (r6&lt;&lt;2) + r9;</span></div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;      <span class="comment">//const int gy = - r7 - (r8&lt;&lt;2) - r9 + r1 + (r2&lt;&lt;2) + r3;</span></div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r_dx = r9 + 2*r6 + r3 - (r7 + 2*r4 + r1);</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> r_dy = r1 + 2*r2 + r3 - (r7 + 2*r8 + r9);</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g_dx = g9 + 2*g6 + g3 - (g7 + 2*g4 + g1);</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> g_dy = g1 + 2*g2 + g3 - (g7 + 2*g8 + g9);</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b_dx = b9 + 2*b6 + b3 - (b7 + 2*b4 + b1);</div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> b_dy = b1 + 2*b2 + b3 - (b7 + 2*b8 + b9);</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160; </div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_mag_r = r_dx*r_dx + r_dy*r_dy;</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_mag_g = g_dx*g_dx + g_dy*g_dy;</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_mag_b = b_dx*b_dx + b_dy*b_dy;</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160; </div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;      <span class="keywordflow">if</span> (sqr_mag_r &gt; sqr_mag_g &amp;&amp; sqr_mag_r &gt; sqr_mag_b)</div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;      {</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;        GradientXY gradient;</div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;        gradient.magnitude = std::sqrt (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sqr_mag_r));</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;        gradient.angle = atan2f (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_dy), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (r_dx)) * 180.0f / pi;</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &lt; -180.0f) gradient.angle += 360.0f;</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &gt;= 180.0f) gradient.angle -= 360.0f;</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160; </div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index, row_index) = gradient;</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;      }</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sqr_mag_g &gt; sqr_mag_b)</div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;      {</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;        GradientXY gradient;</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;        gradient.magnitude = std::sqrt (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sqr_mag_g));</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;        gradient.angle = atan2f (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_dy), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_dx)) * 180.0f / pi;</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &lt; -180.0f) gradient.angle += 360.0f;</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &gt;= 180.0f) gradient.angle -= 360.0f;</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160; </div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index, row_index) = gradient;</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;      }</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;      {</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;        GradientXY gradient;</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;        gradient.magnitude = std::sqrt (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sqr_mag_b));</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;        gradient.angle = atan2f (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_dy), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (b_dx)) * 180.0f / pi;</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &lt; -180.0f) gradient.angle += 360.0f;</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;        <span class="keywordflow">if</span> (gradient.angle &gt;= 180.0f) gradient.angle -= 360.0f;</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;        gradient.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;        gradient.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160; </div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index, row_index) = gradient;</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;      }</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160; </div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;      assert (<a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index, row_index).angle &gt;= -180 &amp;&amp;</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;              <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index, row_index).angle &lt;=  180);</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;    }</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;  }</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160; </div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1872fffa143dd63e5d79bfbedea1ae05">&#9670;&nbsp;</a></span>erode()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::erode </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_mask_map.html">pcl::MaskMap</a> &amp;&#160;</td>
          <td class="paramname"><em>mask_in</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_mask_map.html">pcl::MaskMap</a> &amp;&#160;</td>
          <td class="paramname"><em>mask_out</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Erodes a mask. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">mask_in</td><td>the mask which will be eroded. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">mask_out</td><td>the destination for the eroded mask. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;{</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask_in.getWidth ();</div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask_in.getHeight ();</div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160; </div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;  mask_out.resize (width, height);</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160; </div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 1; row_index &lt; height-1; ++row_index)</div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;  {</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 1; col_index &lt; width-1; ++col_index)</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;    {</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;      <span class="keywordflow">if</span> (mask_in (col_index, row_index-1) == 0 ||</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;          mask_in (col_index-1, row_index) == 0 ||</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;          mask_in (col_index+1, row_index) == 0 ||</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;          mask_in (col_index, row_index+1) == 0)</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;      {</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;        mask_out (col_index, row_index) = 0;</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;      }</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;      {</div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;        mask_out (col_index, row_index) = 255;</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;      }</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;    }</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;  }</div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#af2dc6fed79dee651b61ac5481050d9e9">&#9670;&nbsp;</a></span>extractAllFeatures()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::extractAllFeatures </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;&#160;</td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>nr_features</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>modalityIndex</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>features</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Extracts all possible features from the modality within the specified mask. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>defines the areas where features are searched in. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nr_features</td><td>IGNORED (TODO: remove this parameter). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">modalityIndex</td><td>the index which is stored in the extracted features. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">features</td><td>the destination for the extracted features. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_quantizable_modality.html#a5467be331d8ee3d4daf9959befef9ef6">pcl::QuantizableModality</a>.</p>
<div class="fragment"><div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;{</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  </div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160; </div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  {</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;    {</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;      {</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;        <span class="keyword">const</span> GradientXY &amp; gradient = <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index, row_index);</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;        <span class="keywordflow">if</span> (gradient.magnitude &gt; <a class="code" href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">gradient_magnitude_threshold_feature_extraction_</a></div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;          &amp;&amp; <a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a> (col_index, row_index) != 0)</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;        {</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;          Candidate candidate;</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;          candidate.gradient = gradient;</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;          candidate.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;          candidate.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160; </div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;          list1.push_back (candidate);</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;        }</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;      }</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;    }</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;  }</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160; </div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  list1.sort();</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160; </div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  {</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;          </div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    feature.x = iter1-&gt;x;</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    feature.y = iter1-&gt;y;</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;    feature.modality_index = modality_index;</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;    feature.quantized_value = <a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a> (iter1-&gt;x, iter1-&gt;y);</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160; </div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;  }</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a184fe9770c29550bc24a4f92dee81f0f"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">pcl::ColorGradientModality::gradient_magnitude_threshold_feature_extraction_</a></div><div class="ttdeci">float gradient_magnitude_threshold_feature_extraction_</div><div class="ttdoc">The threshold applied on the gradient magnitudes for feature extraction.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:255</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a500ad5d64ebd401afc02f9f6d12d5143"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">pcl::ColorGradientModality::filtered_quantized_color_gradients_</a></div><div class="ttdeci">pcl::QuantizedMap filtered_quantized_color_gradients_</div><div class="ttdoc">The map which holds the filtered quantized data.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:266</div></div>
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</div>
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<a id="a8620b1c71fd7578c74ff9cae170cad15"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8620b1c71fd7578c74ff9cae170cad15">&#9670;&nbsp;</a></span>extractFeatures()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::extractFeatures </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp;&#160;</td>
          <td class="paramname"><em>mask</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>nr_features</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>modalityIndex</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>features</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Extracts features from this modality within the specified mask. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">mask</td><td>defines the areas where features are searched in. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">nr_features</td><td>defines the number of features to be extracted (might be less if not sufficient information is present in the modality). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">modalityIndex</td><td>the index which is stored in the extracted features. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">features</td><td>the destination for the extracted features. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_quantizable_modality.html#af7bf03139bffc77e0ed340d9be117406">pcl::QuantizableModality</a>.</p>
<div class="fragment"><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;{</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">feature_selection_method_</a> == DISTANCE_MAGNITUDE_SCORE)</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  {</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      {</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          <span class="keyword">const</span> GradientXY &amp; gradient = <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index, row_index);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;          <span class="keywordflow">if</span> (gradient.magnitude &gt; <a class="code" href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">gradient_magnitude_threshold_feature_extraction_</a></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;            &amp;&amp; <a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a> (col_index, row_index) != 0)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;          {</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;            Candidate candidate;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;            candidate.gradient = gradient;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;            candidate.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;            candidate.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;          }</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        }</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    }</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    list1.sort();</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_color_gradient_modality.html#ad5084fb7048c6888856b918a8ab2e7a9">variable_feature_nr_</a>)</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    {</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      list2.push_back (*(list1.begin ()));</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      <span class="comment">//while (list2.size () != nr_features)</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      <span class="keywordtype">bool</span> feature_selection_finished = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      <span class="keywordflow">while</span> (!feature_selection_finished)</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        <span class="keywordtype">float</span> best_score = 0.0f;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        <span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator best_iter = list1.end ();</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        {</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;          <span class="comment">// find smallest distance</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;          <span class="keywordtype">float</span> smallest_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          {</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = dx*dx + dy*dy;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;            <span class="keywordflow">if</span> (distance &lt; smallest_distance)</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;            {</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;              smallest_distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;            }</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;          }</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> score = smallest_distance * iter1-&gt;gradient.magnitude;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;          <span class="keywordflow">if</span> (score &gt; best_score)</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;          {</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            best_score = score;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;            best_iter = iter1;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;          }</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        }</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        <span class="keywordtype">float</span> min_min_sqr_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordtype">float</span> max_min_sqr_distance = 0;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        {</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;          <span class="keywordtype">float</span> min_sqr_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter3 = list2.begin (); iter3 != list2.end (); ++iter3)</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;          {</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;            <span class="keywordflow">if</span> (iter2 == iter3)</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;              <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter3-&gt;x);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter3-&gt;y);</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;            <span class="keywordflow">if</span> (sqr_distance &lt; min_sqr_distance)</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            {</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;              min_sqr_distance = sqr_distance;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;            }</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;            <span class="comment">//std::cerr &lt;&lt; min_sqr_distance;</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;          }</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;          <span class="comment">//std::cerr &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;          <span class="comment">// check current feature</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;          {</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (best_iter-&gt;x);</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (best_iter-&gt;y);</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;            <span class="keywordflow">if</span> (sqr_distance &lt; min_sqr_distance)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;            {</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;              min_sqr_distance = sqr_distance;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;            }</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;          }</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;          <span class="keywordflow">if</span> (min_sqr_distance &lt; min_min_sqr_distance)</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;            min_min_sqr_distance = min_sqr_distance;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;          <span class="keywordflow">if</span> (min_sqr_distance &gt; max_min_sqr_distance)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;            max_min_sqr_distance = min_sqr_distance;</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;          <span class="comment">//std::cerr &lt;&lt; min_sqr_distance &lt;&lt; &quot;, &quot; &lt;&lt; min_min_sqr_distance &lt;&lt; &quot;, &quot; &lt;&lt; max_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;        }</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        <span class="keywordflow">if</span> (best_iter != list1.end ())</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        {</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;feature_index: &quot; &lt;&lt; list2.size () &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;min_min_sqr_distance: &quot; &lt;&lt; min_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;max_min_sqr_distance: &quot; &lt;&lt; max_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;          <span class="keywordflow">if</span> (min_min_sqr_distance &lt; 50)</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;          {</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;            feature_selection_finished = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;          }</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;          list2.push_back (*best_iter);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        }</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      } </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    }</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;    {</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      <span class="keywordflow">if</span> (list1.size () &lt;= nr_features)</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      {</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        {</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;          </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;          feature.x = iter1-&gt;x;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;          feature.y = iter1-&gt;y;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;          feature.modality_index = modality_index;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;          feature.quantized_value = <a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a> (iter1-&gt;x, iter1-&gt;y);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;          features.push_back (feature);</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        }</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      }</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      list2.push_back (*(list1.begin ()));</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      <span class="keywordflow">while</span> (list2.size () != nr_features)</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      {</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;        <span class="keywordtype">float</span> best_score = 0.0f;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        <span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator best_iter = list1.end ();</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;        {</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;          <span class="comment">// find smallest distance</span></div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;          <span class="keywordtype">float</span> smallest_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;          {</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = dx*dx + dy*dy;</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; </div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;            <span class="keywordflow">if</span> (distance &lt; smallest_distance)</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;            {</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;              smallest_distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;            }</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;          }</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160; </div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> score = smallest_distance * iter1-&gt;gradient.magnitude;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;          <span class="keywordflow">if</span> (score &gt; best_score)</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;          {</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;            best_score = score;</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;            best_iter = iter1;</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;          }</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;        }</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160; </div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;        <span class="keywordflow">if</span> (best_iter != list1.end ())</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;        {</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;          list2.push_back (*best_iter);</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;        }</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;        {</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;        }</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;      }  </div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;    }</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  }</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">feature_selection_method_</a> == MASK_BORDER_HIGH_GRADIENTS || <a class="code" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">feature_selection_method_</a> == MASK_BORDER_EQUALLY)</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  {</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;    MaskMap eroded_mask;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;    <a class="code" href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">erode</a> (mask, eroded_mask);</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    MaskMap diff_mask;</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    MaskMap::getDifferenceMask (mask, eroded_mask, diff_mask);</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160; </div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;    {</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;      {</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;        <span class="keywordflow">if</span> (diff_mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;        {</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;          <span class="keyword">const</span> GradientXY &amp; gradient = <a class="code" href="classpcl_1_1_color_gradient_modality.html#a3b51b95df84a62c12bc348dc3485054f">color_gradients_</a> (col_index, row_index);</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;          <span class="keywordflow">if</span> ((<a class="code" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">feature_selection_method_</a> == MASK_BORDER_EQUALLY || gradient.magnitude &gt; <a class="code" href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">gradient_magnitude_threshold_feature_extraction_</a>)</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;            &amp;&amp; <a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a> (col_index, row_index) != 0)</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;          {</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;            Candidate candidate;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;            candidate.gradient = gradient;</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;            candidate.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (col_index);</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;            candidate.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (row_index);</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160; </div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;          }</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;        }</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;      }</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    }</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160; </div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    list1.sort();</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160; </div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    <span class="keywordflow">if</span> (list1.size () &lt;= nr_features)</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    {</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;      {</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;        QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;          </div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        feature.x = iter1-&gt;x;</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;        feature.y = iter1-&gt;y;</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        feature.modality_index = modality_index;</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;        feature.quantized_value = <a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a> (iter1-&gt;x, iter1-&gt;y);</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160; </div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;        features.push_back (feature);</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      }</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    }</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160; </div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    <span class="keywordtype">size_t</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = list1.size () / nr_features + 1; <span class="comment">// ??? </span></div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    <span class="keywordflow">while</span> (list2.size () != nr_features)</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    {</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> sqr_distance = <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>*<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;      {</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;        <span class="keywordtype">bool</span> candidate_accepted = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;        {</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dx = iter1-&gt;x - iter2-&gt;x;</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dy = iter1-&gt;y - iter2-&gt;y;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tmp_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;          <span class="comment">//if (tmp_distance &lt; distance) </span></div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;          <span class="keywordflow">if</span> (tmp_distance &lt; sqr_distance)</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;          {</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;            candidate_accepted = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;          }</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;        }</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160; </div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;        <span class="keywordflow">if</span> (candidate_accepted)</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;          list2.push_back (*iter1);</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160; </div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;        <span class="keywordflow">if</span> (list2.size () == nr_features)</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;      }</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;      --<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    }</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  }</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160; </div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;  {</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    QuantizedMultiModFeature feature;</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    </div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    feature.x = iter2-&gt;x;</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    feature.y = iter2-&gt;y;</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;    feature.modality_index = modality_index;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    feature.quantized_value = <a class="code" href="classpcl_1_1_color_gradient_modality.html#a500ad5d64ebd401afc02f9f6d12d5143">filtered_quantized_color_gradients_</a> (iter2-&gt;x, iter2-&gt;y);</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160; </div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  }</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a1872fffa143dd63e5d79bfbedea1ae05"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a1872fffa143dd63e5d79bfbedea1ae05">pcl::ColorGradientModality::erode</a></div><div class="ttdeci">static void erode(const pcl::MaskMap &amp;mask_in, pcl::MaskMap &amp;mask_out)</div><div class="ttdoc">Erodes a mask.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:1097</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_a46ae330fdc561b3eb3f46800d5136078"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">pcl::ColorGradientModality::feature_selection_method_</a></div><div class="ttdeci">FeatureSelectionMethod feature_selection_method_</div><div class="ttdoc">Defines which feature selection method is used.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_ad5084fb7048c6888856b918a8ab2e7a9"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#ad5084fb7048c6888856b918a8ab2e7a9">pcl::ColorGradientModality::variable_feature_nr_</a></div><div class="ttdeci">bool variable_feature_nr_</div><div class="ttdoc">Determines whether variable numbers of features are extracted or not.</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:244</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a5be63ae9d79f7b659be40ef3ca3c564d">&#9670;&nbsp;</a></span>setFeatureSelectionMethod()</h2>

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template&lt;typename PointInT &gt; </div>
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        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::setFeatureSelectionMethod </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_color_gradient_modality.html#a1e19e3726e9278aa81baef0f1ddc5f71">FeatureSelectionMethod</a>&#160;</td>
          <td class="paramname"><em>method</em></td><td>)</td>
          <td></td>
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<p>Sets the feature selection method. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">method</td><td>the feature selection method. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a46ae330fdc561b3eb3f46800d5136078">feature_selection_method_</a> = method;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#afc82fc7d4197f93b02cd4d88576808cb">&#9670;&nbsp;</a></span>setGradientMagnitudeThreshold()</h2>

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template&lt;typename PointInT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::setGradientMagnitudeThreshold </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>threshold</em></td><td>)</td>
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<p>Sets the threshold for the gradient magnitude which is used when quantizing the data. Gradients with a smaller magnitude are ignored. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the new gradient magnitude threshold. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#aff83039db2c49d7ba2e4a28519aec433">gradient_magnitude_threshold_</a> = threshold;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_color_gradient_modality_html_aff83039db2c49d7ba2e4a28519aec433"><div class="ttname"><a href="classpcl_1_1_color_gradient_modality.html#aff83039db2c49d7ba2e4a28519aec433">pcl::ColorGradientModality::gradient_magnitude_threshold_</a></div><div class="ttdeci">float gradient_magnitude_threshold_</div><div class="ttdoc">The threshold applied on the gradient magnitudes (for quantization).</div><div class="ttdef"><b>Definition:</b> color_gradient_modality.h:253</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1fbe75808a0a100d2246341dd8aa7efc">&#9670;&nbsp;</a></span>setGradientMagnitudeThresholdForFeatureExtraction()</h2>

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template&lt;typename PointInT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::setGradientMagnitudeThresholdForFeatureExtraction </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>threshold</em></td><td>)</td>
          <td></td>
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<p>Sets the threshold for the gradient magnitude which is used for feature extraction. Gradients with a smaller magnitude are ignored. </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the new gradient magnitude threshold. </td></tr>
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<div class="fragment"><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#a184fe9770c29550bc24a4f92dee81f0f">gradient_magnitude_threshold_feature_extraction_</a> = threshold;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1d07cf0a0d8f951d2466e3adf86fd68b">&#9670;&nbsp;</a></span>setInputCloud()</h2>

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template&lt;typename PointInT &gt; </div>
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          <td class="memname">virtual void <a class="el" href="classpcl_1_1_color_gradient_modality.html">pcl::ColorGradientModality</a>&lt; PointInT &gt;::setInputCloud </td>
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          <td class="paramtype">const typename PointCloudIn::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
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<p>Provide a pointer to the input dataset (overwrites the <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">PCLBase::setInputCloud</a> method) </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramname">cloud</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
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<div class="fragment"><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      { </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3378a2de1166930c2768ae433f7c82fa">&#9670;&nbsp;</a></span>setVariableFeatureNr()</h2>

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<p>Sets whether variable feature numbers for feature extraction is enabled. </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">enabled</td><td>enables/disables variable feature numbers for feature extraction. </td></tr>
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<div class="fragment"><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classpcl_1_1_color_gradient_modality.html#ad5084fb7048c6888856b918a8ab2e7a9">variable_feature_nr_</a> = enabled;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>recognition/include/pcl/recognition/<a class="el" href="color__gradient__modality_8h_source.html">color_gradient_modality.h</a></li>
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